As a small servicer, are we required to provide borrowers a written notice of address and procedures for submitting written error resolution notices and information requests?

If you are a small servicer, then you would be exempt from 1024.35, if that is what you are asking.

You don't need to specify an address or give instructions on how to submit an error or request information, but if you don't, you need to be prepared to accept errors and/or requests at all locations.

Is there a model notice for a notice of error or request for information under RESPA?

There is no model for what the borrower has to give you (or your responses back). Essentially, any written notice from the borrower that claims the possibility of an error or requests information and includes the borrower's name, allows you to identify the loan, as well as the error or the information requested will trigger the requirements. Notices on payment coupons technically won't trigger the requirements.